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Merge branch 'rm-controls:master' into master
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GuraMumei authored Jul 17, 2024
2 parents d306a82 + dba1ee0 commit 3cb79ef
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4 changes: 4 additions & 0 deletions rm_common/include/rm_common/decision/command_sender.h
Original file line number Diff line number Diff line change
Expand Up @@ -263,6 +263,10 @@ class ChassisCommandSender : public TimeStampCommandSenderBase<rm_msgs::ChassisC
{
power_limit_->setRefereeStatus(status);
}
void setFollowVelDes(double follow_vel_des)
{
msg_.follow_vel_des = follow_vel_des;
}
void sendChassisCommand(const ros::Time& time, bool is_gyro)
{
power_limit_->setLimitPower(msg_, is_gyro);
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1 change: 1 addition & 0 deletions rm_msgs/msg/ChassisCmd.msg
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Expand Up @@ -7,6 +7,7 @@ uint8 FALLEN = 4
uint8 mode
geometry_msgs/Accel accel
float64 power_limit
float64 follow_vel_des
string follow_source_frame
string command_source_frame
time stamp

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